amiro-os / modules / LightRing_1-2 / module.c @ 9ae7c4f3
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| 1 | 9ae7c4f3 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2019 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | /**
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| 20 | * @file
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| 21 | * @brief Structures and constant for the LightRing v1.0 module.
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| 22 | *
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| 23 | * @addtogroup lightring_module
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | #include "module.h" |
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| 28 | |||
| 29 | /*===========================================================================*/
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| 30 | /**
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| 31 | * @name Module specific functions
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| 32 | * @{
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| 33 | */
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| 34 | /*===========================================================================*/
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| 35 | |||
| 36 | /** @} */
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| 37 | |||
| 38 | /*===========================================================================*/
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| 39 | /**
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| 40 | * @name ChibiOS/HAL configuration
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| 41 | * @{
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| 42 | */
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| 43 | /*===========================================================================*/
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| 44 | |||
| 45 | CANConfig moduleHalCanConfig = {
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| 46 | /* mcr */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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| 47 | /* btr */ CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(13) | CAN_BTR_BRP(1), |
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| 48 | }; |
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| 49 | |||
| 50 | I2CConfig moduleHalI2cEepromBreakoutConfig = {
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| 51 | /* I²C mode */ OPMODE_I2C,
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| 52 | /* frequency */ 400000, // TODO: replace with some macro (-> ChibiOS/HAL) |
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| 53 | /* duty cycle */ FAST_DUTY_CYCLE_2,
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| 54 | }; |
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| 55 | |||
| 56 | SerialConfig moduleHalProgIfConfig = {
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| 57 | /* bit rate */ 115200, |
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| 58 | /* CR1 */ 0, |
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| 59 | /* CR1 */ 0, |
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| 60 | /* CR1 */ 0, |
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| 61 | }; |
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| 62 | |||
| 63 | SPIConfig moduleHalSpiLightConfig = {
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| 64 | /* circular buffer mode */ false, |
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| 65 | /* callback function pointer */ NULL, |
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| 66 | /* chip select line port */ GPIOC,
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| 67 | /* chip select line pad number */ GPIOC_LIGHT_XLAT,
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| 68 | /* CR1 */ SPI_CR1_BR_0 | SPI_CR1_BR_1,
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| 69 | /* CR2 */ SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN,
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| 70 | }; |
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| 71 | |||
| 72 | |||
| 73 | /*===========================================================================*/
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| 74 | /**
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| 75 | * @name GPIO definitions
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| 76 | * @{
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| 77 | */
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| 78 | /*===========================================================================*/
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| 79 | |||
| 80 | /**
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| 81 | * @brief LIGHT_BANK output signal GPIO.
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| 82 | */
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| 83 | static apalGpio_t _gpioLightBlank = {
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| 84 | /* port */ GPIOA,
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| 85 | /* pad */ GPIOA_LIGHT_BLANK,
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| 86 | }; |
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| 87 | ROMCONST apalControlGpio_t moduleGpioLightBlank = {
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| 88 | /* GPIO */ &_gpioLightBlank,
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| 89 | /* meta */ {
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| 90 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 91 | /* active state */ TLC5947_LLD_BLANK_ACTIVE_STATE,
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| 92 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 93 | }, |
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| 94 | }; |
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| 95 | |||
| 96 | /**
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| 97 | * @brief RS232_R_EN_N output signal GPIO.
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| 98 | */
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| 99 | static apalGpio_t _gpioRs232En = {
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| 100 | /* port */ GPIOA,
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| 101 | /* pad */ GPIOA_RS232_R_EN_N,
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| 102 | }; |
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| 103 | ROMCONST apalControlGpio_t moduleGpioRs232En = {
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| 104 | /* GPIO */ &_gpioRs232En,
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| 105 | /* meta */ {
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| 106 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 107 | /* active state */ APAL_GPIO_ACTIVE_LOW, //TODO |
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| 108 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 109 | }, |
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| 110 | }; |
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| 111 | |||
| 112 | /**
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| 113 | * @brief SW_V33_EN output signal GPIO.
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| 114 | */
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| 115 | static apalGpio_t _gpioSwV33En = {
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| 116 | /* port */ GPIOB,
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| 117 | /* pad */ GPIOB_SW_V33_EN,
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| 118 | }; |
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| 119 | ROMCONST apalControlGpio_t moduleGpioSwV33En = {
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| 120 | /* GPIO */ &_gpioSwV33En,
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| 121 | /* meta */ {
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| 122 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 123 | /* active state */ APAL_GPIO_ACTIVE_HIGH, //TODO |
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| 124 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 125 | }, |
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| 126 | }; |
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| 127 | |||
| 128 | /**
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| 129 | * @brief SW_V42_EN output signal GPIO.
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| 130 | */
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| 131 | static apalGpio_t _gpioSwV42En = {
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| 132 | /* port */ GPIOB,
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| 133 | /* pad */ GPIOB_SW_V42_EN,
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| 134 | }; |
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| 135 | ROMCONST apalControlGpio_t moduleGpioSwV42En = {
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| 136 | /* GPIO */ &_gpioSwV42En,
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| 137 | /* meta */ {
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| 138 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 139 | /* active state */ APAL_GPIO_ACTIVE_HIGH, //TODO |
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| 140 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 141 | }, |
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| 142 | }; |
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| 143 | |||
| 144 | /**
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| 145 | * @brief SW_V50_EN output signal GPIO.
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| 146 | */
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| 147 | static apalGpio_t _gpioSwV50En = {
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| 148 | /* port */ GPIOB,
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| 149 | /* pad */ GPIOB_SW_V50_EN,
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| 150 | }; |
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| 151 | ROMCONST apalControlGpio_t moduleGpioSwV50En = {
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| 152 | /* GPIO */ &_gpioSwV50En,
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| 153 | /* meta */ {
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| 154 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 155 | /* active state */ APAL_GPIO_ACTIVE_HIGH, //TODO |
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| 156 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 157 | }, |
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| 158 | }; |
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| 159 | |||
| 160 | /**
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| 161 | * @brief IO_3 breakout signal GPIO.
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| 162 | */
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| 163 | static apalGpio_t _gpioBreakoutIo3 = {
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| 164 | /* port */ GPIOB,
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| 165 | /* pad */ GPIOB_IO_3,
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| 166 | }; |
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| 167 | apalControlGpio_t moduleGpioBreakoutIo3 = {
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| 168 | /* GPIO */ &_gpioBreakoutIo3,
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| 169 | /* meta */ {
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| 170 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 171 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 172 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 173 | }, |
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| 174 | }; |
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| 175 | |||
| 176 | /**
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| 177 | * @brief IO_5 breakout signal GPIO.
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| 178 | */
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| 179 | static apalGpio_t _gpioBreakoutIo5 = {
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| 180 | /* port */ GPIOB,
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| 181 | /* pad */ GPIOB_IO_5,
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| 182 | }; |
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| 183 | apalControlGpio_t moduleGpioBreakoutIo5 = {
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| 184 | /* GPIO */ &_gpioBreakoutIo5,
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| 185 | /* meta */ {
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| 186 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 187 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 188 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 189 | }, |
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| 190 | }; |
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| 191 | |||
| 192 | /**
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| 193 | * @brief IO_6 breakout signal GPIO.
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| 194 | */
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| 195 | static apalGpio_t _gpioBreakoutIo6 = {
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| 196 | /* port */ GPIOB,
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| 197 | /* pad */ GPIOB_IO_6,
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| 198 | }; |
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| 199 | apalControlGpio_t moduleGpioBreakoutIo6 = {
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| 200 | /* GPIO */ &_gpioBreakoutIo6,
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| 201 | /* meta */ {
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| 202 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 203 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 204 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 205 | }, |
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| 206 | }; |
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| 207 | |||
| 208 | /**
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| 209 | * @brief SYS_UART_DN bidirectional signal GPIO.
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| 210 | */
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| 211 | static apalGpio_t _gpioSysUartDn = {
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| 212 | /* port */ GPIOB,
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| 213 | /* pad */ GPIOB_SYS_UART_DN,
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| 214 | }; |
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| 215 | ROMCONST apalControlGpio_t moduleGpioSysUartDn = {
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| 216 | /* GPIO */ &_gpioSysUartDn,
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| 217 | /* meta */ {
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| 218 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 219 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 220 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 221 | }, |
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| 222 | }; |
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| 223 | |||
| 224 | /**
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| 225 | * @brief IO_7 breakout signal GPIO.
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| 226 | */
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| 227 | static apalGpio_t _gpioBreakoutIo7 = {
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| 228 | /* port */ GPIOB,
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| 229 | /* pad */ GPIOB_IO_7,
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| 230 | }; |
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| 231 | apalControlGpio_t moduleGpioBreakoutIo7 = {
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| 232 | /* GPIO */ &_gpioBreakoutIo7,
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| 233 | /* meta */ {
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| 234 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 235 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 236 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 237 | }, |
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| 238 | }; |
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| 239 | |||
| 240 | /**
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| 241 | * @brief IO_8 breakout signal GPIO.
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| 242 | */
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| 243 | static apalGpio_t _gpioBreakoutIo8 = {
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| 244 | /* port */ GPIOB,
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| 245 | /* pad */ GPIOB_IO_8,
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| 246 | }; |
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| 247 | apalControlGpio_t moduleGpioBreakoutIo8 = {
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| 248 | /* GPIO */ &_gpioBreakoutIo8,
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| 249 | /* meta */ {
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| 250 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 251 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 252 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 253 | }, |
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| 254 | }; |
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| 255 | |||
| 256 | /**
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| 257 | * @brief IO_4 breakout signal GPIO.
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| 258 | */
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| 259 | static apalGpio_t _gpioBreakoutIo4 = {
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| 260 | /* port */ GPIOC,
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| 261 | /* pad */ GPIOC_IO_4,
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| 262 | }; |
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| 263 | apalControlGpio_t moduleGpioBreakoutIo4 = {
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| 264 | /* GPIO */ &_gpioBreakoutIo4,
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| 265 | /* meta */ {
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| 266 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 267 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 268 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 269 | }, |
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| 270 | }; |
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| 271 | |||
| 272 | /**
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| 273 | * @brief IO_1 breakout signal GPIO.
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| 274 | */
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| 275 | static apalGpio_t _gpioBreakoutIo1 = {
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| 276 | /* port */ GPIOC,
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| 277 | /* pad */ GPIOC_IO_1,
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| 278 | }; |
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| 279 | apalControlGpio_t moduleGpioBreakoutIo1 = {
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| 280 | /* GPIO */ &_gpioBreakoutIo1,
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| 281 | /* meta */ {
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| 282 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 283 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 284 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 285 | }, |
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| 286 | }; |
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| 287 | |||
| 288 | /**
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| 289 | * @brief IO_2 breakout signal GPIO.
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| 290 | */
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| 291 | static apalGpio_t _gpioBreakoutIo2 = {
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| 292 | /* port */ GPIOC,
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| 293 | /* pad */ GPIOC_IO_2,
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| 294 | }; |
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| 295 | apalControlGpio_t moduleGpioBreakoutIo2 = {
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| 296 | /* GPIO */ &_gpioBreakoutIo2,
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| 297 | /* meta */ {
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| 298 | /* direction */ APAL_GPIO_DIRECTION_UNDEFINED,
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| 299 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 300 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 301 | }, |
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| 302 | }; |
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| 303 | |||
| 304 | /**
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| 305 | * @brief LED output signal GPIO.
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| 306 | */
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| 307 | static apalGpio_t _gpioLed = {
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| 308 | /* port */ GPIOC,
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| 309 | /* pad */ GPIOC_LED,
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| 310 | }; |
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| 311 | ROMCONST apalControlGpio_t moduleGpioLed = {
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| 312 | /* GPIO */ &_gpioLed,
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| 313 | /* meta */ {
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| 314 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 315 | /* active state */ LED_LLD_GPIO_ACTIVE_STATE,
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| 316 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 317 | }, |
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| 318 | }; |
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| 319 | |||
| 320 | /**
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| 321 | * @brief LIGHT_XLAT output signal GPIO.
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| 322 | */
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| 323 | static apalGpio_t _gpioLightXlat = {
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| 324 | /* port */ GPIOC,
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| 325 | /* pad */ GPIOC_LIGHT_XLAT,
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| 326 | }; |
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| 327 | ROMCONST apalControlGpio_t moduleGpioLightXlat = {
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| 328 | /* GPIO */ &_gpioLightXlat,
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| 329 | /* meta */ {
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| 330 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 331 | /* active state */ TLC5947_LLD_XLAT_ACTIVE_STATE,
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| 332 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 333 | }, |
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| 334 | }; |
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| 335 | |||
| 336 | /**
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| 337 | * @brief SW_V18_EN output signal GPIO.
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| 338 | */
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| 339 | static apalGpio_t _gpioSwV18En = {
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| 340 | /* port */ GPIOC,
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| 341 | /* pad */ GPIOC_SW_V18_EN,
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| 342 | }; |
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| 343 | ROMCONST apalControlGpio_t moduleGpioSwV18En = {
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| 344 | /* GPIO */ &_gpioSwV18En,
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| 345 | /* meta */ {
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| 346 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 347 | /* active state */ APAL_GPIO_ACTIVE_HIGH, //TODO |
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| 348 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 349 | }, |
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| 350 | }; |
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| 351 | |||
| 352 | /**
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| 353 | * @brief SW_VSYS_EN output signal GPIO.
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| 354 | */
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| 355 | static apalGpio_t _gpioSwVsysEn = {
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| 356 | /* port */ GPIOC,
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| 357 | /* pad */ GPIOC_SW_VSYS_EN,
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| 358 | }; |
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| 359 | ROMCONST apalControlGpio_t moduleGpioSwVsysEn = {
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| 360 | /* GPIO */ &_gpioSwVsysEn,
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| 361 | /* meta */ {
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| 362 | /* direction */ APAL_GPIO_DIRECTION_OUTPUT,
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| 363 | /* active state */ APAL_GPIO_ACTIVE_HIGH, //TODO |
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| 364 | /* interrupt edge */ APAL_GPIO_EDGE_NONE,
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| 365 | }, |
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| 366 | }; |
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| 367 | |||
| 368 | /**
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| 369 | * @brief SYS_UART_UP bidirectional signal GPIO.
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| 370 | */
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| 371 | static apalGpio_t _gpioSysUartUp = {
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| 372 | /* port */ GPIOC,
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| 373 | /* pad */ GPIOC_SYS_UART_UP,
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| 374 | }; |
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| 375 | ROMCONST apalControlGpio_t moduleGpioSysUartUp = {
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| 376 | /* GPIO */ &_gpioSysUartUp,
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| 377 | /* meta */ {
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| 378 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 379 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 380 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 381 | }, |
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| 382 | }; |
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| 383 | |||
| 384 | /**
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| 385 | * @brief SYS_PD bidirectional signal GPIO.
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| 386 | */
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| 387 | static apalGpio_t _gpioSysPd = {
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| 388 | /* port */ GPIOC,
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| 389 | /* pad */ GPIOC_SYS_PD_N,
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| 390 | }; |
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| 391 | ROMCONST apalControlGpio_t moduleGpioSysPd = {
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| 392 | /* GPIO */ &_gpioSysPd,
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| 393 | /* meta */ {
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| 394 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 395 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 396 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 397 | }, |
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| 398 | }; |
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| 399 | |||
| 400 | /**
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| 401 | * @brief SYS_SYNC bidirectional signal GPIO.
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| 402 | */
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| 403 | static apalGpio_t _gpioSysSync = {
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| 404 | /* port */ GPIOD,
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| 405 | /* pad */ GPIOD_SYS_INT_N,
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| 406 | }; |
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| 407 | ROMCONST apalControlGpio_t moduleGpioSysSync = {
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| 408 | /* GPIO */ &_gpioSysSync,
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| 409 | /* meta */ {
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| 410 | /* direction */ APAL_GPIO_DIRECTION_BIDIRECTIONAL,
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| 411 | /* active state */ APAL_GPIO_ACTIVE_LOW,
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| 412 | /* interrupt edge */ APAL_GPIO_EDGE_BOTH,
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| 413 | }, |
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| 414 | }; |
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| 415 | |||
| 416 | /** @} */
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| 417 | |||
| 418 | /*===========================================================================*/
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| 419 | /**
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| 420 | * @name AMiRo-OS core configurations
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| 421 | * @{
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| 422 | */
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| 423 | /*===========================================================================*/
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| 424 | |||
| 425 | #if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 426 | ROMCONST char* moduleShellPrompt = "LightRing"; |
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| 427 | #endif /* (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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| 428 | |||
| 429 | /** @} */
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| 430 | |||
| 431 | /*===========================================================================*/
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| 432 | /**
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| 433 | * @name Startup Shutdown Synchronization Protocol (SSSP)
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| 434 | * @{
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| 435 | */
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| 436 | /*===========================================================================*/
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| 437 | |||
| 438 | /** @} */
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| 439 | |||
| 440 | /*===========================================================================*/
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| 441 | /**
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| 442 | * @name Low-level drivers
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| 443 | * @{
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| 444 | */
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| 445 | /*===========================================================================*/
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| 446 | |||
| 447 | AT24C01BDriver moduleLldEeprom = {
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| 448 | /* I2C driver */ &MODULE_HAL_I2C_EEPROM_BREAKOUT,
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| 449 | /* I2C address */ 0x00u, |
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| 450 | }; |
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| 451 | |||
| 452 | TLC5947Driver moduleLldLedPwm = {
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| 453 | /* SPI driver */ &MODULE_HAL_SPI_LIGHT,
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| 454 | /* BLANK signal GPIO */ &moduleGpioLightBlank,
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| 455 | /* XLAT signal GPIO */ &moduleGpioLightXlat,
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| 456 | }; |
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| 457 | |||
| 458 | /** @} */
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| 459 | |||
| 460 | /*===========================================================================*/
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| 461 | /**
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| 462 | * @name Unit tests (UT)
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| 463 | * @{
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| 464 | */
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| 465 | /*===========================================================================*/
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| 466 | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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| 467 | |||
| 468 | /*
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| 469 | * EEPROM (AT24C01B)
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| 470 | */
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| 471 | static int _utShellCmdCb_AlldAt24c01b(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 472 | {
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| 473 | (void)argc;
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| 474 | (void)argv;
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| 475 | aosUtRun(stream, &moduleUtAlldAt24c01b, NULL);
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| 476 | return AOS_OK;
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| 477 | } |
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| 478 | static ut_at24c01bdata_t _utAlldAt24c01bData = {
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| 479 | /* driver */ &moduleLldEeprom,
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| 480 | /* timeout */ MICROSECONDS_PER_SECOND,
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| 481 | }; |
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| 482 | aos_unittest_t moduleUtAlldAt24c01b = {
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| 483 | /* name */ "AT24C01B", |
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| 484 | /* info */ "1kbit EEPROM", |
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| 485 | /* test function */ utAlldAt24c01bFunc,
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| 486 | /* shell command */ {
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| 487 | /* name */ "unittest:EEPROM", |
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| 488 | /* callback */ _utShellCmdCb_AlldAt24c01b,
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| 489 | /* next */ NULL, |
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| 490 | }, |
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| 491 | /* data */ &_utAlldAt24c01bData,
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| 492 | }; |
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| 493 | |||
| 494 | /*
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| 495 | * LED PWM driver (TLC5947)
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| 496 | */
|
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| 497 | static int _utShellCmdCb_Tlc5947(BaseSequentialStream* stream, int argc, char* argv[]) |
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| 498 | {
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| 499 | (void)argc;
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| 500 | (void)argv;
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| 501 | aosUtRun(stream, &moduleUtAlldTlc5947, NULL);
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| 502 | return AOS_OK;
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| 503 | } |
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| 504 | aos_unittest_t moduleUtAlldTlc5947 = {
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| 505 | /* info */ "TLC5947", |
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| 506 | /* name */ "LED PWM driver", |
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| 507 | /* test function */ utAlldTlc5947Func,
|
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| 508 | /* shell command */ {
|
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| 509 | /* name */ "unittest:Lights", |
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| 510 | /* callback */ _utShellCmdCb_Tlc5947,
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| 511 | /* next */ NULL, |
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| 512 | }, |
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| 513 | /* data */ &moduleLldLedPwm,
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| 514 | }; |
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| 515 | |||
| 516 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
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| 517 | |||
| 518 | /** @} */
|
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| 519 | /** @} */ |